This paper proposed a method of Optical flow detection on SIFT-Harris for monovision that aims to solve the problem of gray inconsistency in certain region on actual road. It adopts the optical flow for the region of interest so that we can judge whether the object is an obstacle or not. The layered structure for the scale invariant features and corner features is set up to detect the obstacles in time in road region and meets the requirement of real-time visual navigation for the intelligent vehicle.
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